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<div class="title">ground_plane_comparator.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_GROUND_PLANE_COMPARATOR_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_GROUND_PLANE_COMPARATOR_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="angles_8h.html">pcl/common/angles.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/comparator.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;boost/make_shared.hpp&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html">   55</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_ground_plane_comparator.html">GroundPlaneComparator</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_comparator.html">Comparator</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Comparator&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Comparator&lt;PointT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::Ptr PointCloudNPtr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::ConstPtr PointCloudNConstPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;GroundPlaneComparator&lt;PointT, PointNT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const GroundPlaneComparator&lt;PointT, PointNT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_comparator.html">pcl::Comparator&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#a9e80cf6d65aa845b8dd6e13b8a7e011a">   71</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#a9e80cf6d65aa845b8dd6e13b8a7e011a">GroundPlaneComparator</a> ()</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        : normals_ ()</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        , plane_coeff_d_ ()</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        , angular_threshold_ (cosf (pcl::<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">deg2rad</a> (2.0f)))</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        , road_angular_threshold_ ( cosf(pcl::<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">deg2rad</a> (10.0f)))</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        , distance_threshold_ (0.1f)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        , depth_dependent_ (true)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        , z_axis_ (Eigen::Vector3f (0.0, 0.0, 1.0) )</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        , desired_road_axis_ (Eigen::Vector3f(0.0, -1.0, 0.0))</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#a83d48d057ffa61066310fce6177fa998">   86</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#a83d48d057ffa61066310fce6177fa998">GroundPlaneComparator</a> (boost::shared_ptr&lt;std::vector&lt;float&gt; &gt;&amp; plane_coeff_d) </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        : normals_ ()</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        , plane_coeff_d_ (plane_coeff_d)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        , angular_threshold_ (cosf (pcl::<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">deg2rad</a> (3.0f)))</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        , distance_threshold_ (0.1f)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        , depth_dependent_ (true)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        , z_axis_ (Eigen::Vector3f (0.0f, 0.0f, 1.0f))</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        , road_angular_threshold_ ( cosf(pcl::<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">deg2rad</a> (40.0f)))</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        , desired_road_axis_ (Eigen::Vector3f(0.0, -1.0, 0.0))</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#a74ca6fa0843436e5fbaae4db9171d6a3">  100</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#a74ca6fa0843436e5fbaae4db9171d6a3">~GroundPlaneComparator</a> ()</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#aaec0392b8a90827ad86f76e57b13e628">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#aaec0392b8a90827ad86f76e57b13e628">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr&amp; cloud)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        input_ = cloud;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#a342d7944b0ca7c81f9f39b55f87e7b0a">  116</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#a342d7944b0ca7c81f9f39b55f87e7b0a">setInputNormals</a> (<span class="keyword">const</span> PointCloudNConstPtr &amp;normals)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        normals_ = normals;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">inline</span> PointCloudNConstPtr</div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#a4917094b3ac22e069d02bd9011345609">  123</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#a4917094b3ac22e069d02bd9011345609">getInputNormals</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keywordflow">return</span> (normals_);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#a0462119699a82b62e6a97103b732ebb3">  132</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#a0462119699a82b62e6a97103b732ebb3">setPlaneCoeffD</a> (boost::shared_ptr&lt;std::vector&lt;float&gt; &gt;&amp; plane_coeff_d)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        plane_coeff_d_ = plane_coeff_d;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#a84617b290723756ec60399e272f8ae9c">  141</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#a84617b290723756ec60399e272f8ae9c">setPlaneCoeffD</a> (std::vector&lt;float&gt;&amp; plane_coeff_d)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        plane_coeff_d_ = boost::make_shared&lt;std::vector&lt;float&gt; &gt;(plane_coeff_d);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keyword">const</span> std::vector&lt;float&gt;&amp;</div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#a4a1a62c797da2117eab1db378efc8886">  148</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#a4a1a62c797da2117eab1db378efc8886">getPlaneCoeffD</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordflow">return</span> (plane_coeff_d_);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#ae7ea1c7a9d7362b9648afd7b1a7c9b6e">  157</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#ae7ea1c7a9d7362b9648afd7b1a7c9b6e">setAngularThreshold</a> (<span class="keywordtype">float</span> angular_threshold)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        angular_threshold_ = cosf (angular_threshold);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#a9cdc19f0e96e96e0e192936331e6a25a">  166</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#a9cdc19f0e96e96e0e192936331e6a25a">setGroundAngularThreshold</a> (<span class="keywordtype">float</span> angular_threshold)</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        road_angular_threshold_ = cosf (angular_threshold);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#a171bd615e867ddcb74b429ba33fe96c2">  175</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#a171bd615e867ddcb74b429ba33fe96c2">setExpectedGroundNormal</a> (Eigen::Vector3f normal)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        desired_road_axis_ = normal;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#aa24b2167f6b5a27a7f16fbf4eadbb8f8">  183</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#aa24b2167f6b5a27a7f16fbf4eadbb8f8">getAngularThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="keywordflow">return</span> (acosf (angular_threshold_) );</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#a427a918c37b5fbe06cfed9d62969ba46">  193</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#a427a918c37b5fbe06cfed9d62969ba46">setDistanceThreshold</a> (<span class="keywordtype">float</span> distance_threshold, </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                            <span class="keywordtype">bool</span> depth_dependent = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        distance_threshold_ = distance_threshold;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        depth_dependent_ = depth_dependent;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#a4f0c1ea18efd201018449a14968a213b">  202</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#a4f0c1ea18efd201018449a14968a213b">getDistanceThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordflow">return</span> distance_threshold_;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1_ground_plane_comparator.html#a04efd5238f2d7cf5171652a2cc262a65">  213</a></span>&#160;      <a class="code" href="classpcl_1_1_ground_plane_comparator.html#a04efd5238f2d7cf5171652a2cc262a65">compare</a> (<span class="keywordtype">int</span> idx1, <span class="keywordtype">int</span> idx2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="comment">// Normal must be similar to neighbor</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="comment">// Normal must be similar to expected normal</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keywordtype">float</span> threshold = distance_threshold_;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordflow">if</span> (depth_dependent_)</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        {</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          Eigen::Vector3f vec = input_-&gt;points[idx1].getVector3fMap ();</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          <span class="keywordtype">float</span> z = vec.dot (z_axis_);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;          threshold *= z * z;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keywordflow">return</span> ( (normals_-&gt;points[idx1].getNormalVector3fMap ().dot (desired_road_axis_) &gt; road_angular_threshold_) &amp;&amp;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                 (normals_-&gt;points[idx1].getNormalVector3fMap ().dot (normals_-&gt;points[idx2].getNormalVector3fMap () ) &gt; angular_threshold_ ));</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="comment">// Euclidean proximity of neighbors does not seem to be required -- pixel adjacency handles this well enough </span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="comment">//return ( (normals_-&gt;points[idx1].getNormalVector3fMap ().dot (desired_road_axis_) &gt; road_angular_threshold_) &amp;&amp;</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <span class="comment">//          (normals_-&gt;points[idx1].getNormalVector3fMap ().dot (normals_-&gt;points[idx2].getNormalVector3fMap () ) &gt; angular_threshold_ ) &amp;&amp;</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <span class="comment">//         (pcl::euclideanDistance (input_-&gt;points[idx1], input_-&gt;points[idx2]) &lt; distance_threshold_ ));</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      PointCloudNConstPtr normals_;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      boost::shared_ptr&lt;std::vector&lt;float&gt; &gt; plane_coeff_d_;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keywordtype">float</span> angular_threshold_;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keywordtype">float</span> road_angular_threshold_;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <span class="keywordtype">float</span> distance_threshold_;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keywordtype">bool</span> depth_dependent_;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      Eigen::Vector3f z_axis_;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      Eigen::Vector3f desired_road_axis_;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  };</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;}</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_SEGMENTATION_GROUND_PLANE_COMPARATOR_H_</span></div>
<div class="ttc" id="aangles_8h_html"><div class="ttname"><a href="angles_8h.html">angles.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_comparator_html"><div class="ttname"><a href="classpcl_1_1_comparator.html">pcl::Comparator</a></div><div class="ttdoc">Comparator is the base class for comparators that compare two points given some function....</div><div class="ttdef"><b>Definition:</b> comparator.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html">pcl::GroundPlaneComparator</a></div><div class="ttdoc">GroundPlaneComparator is a Comparator for detecting smooth surfaces suitable for driving....</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_a0462119699a82b62e6a97103b732ebb3"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#a0462119699a82b62e6a97103b732ebb3">pcl::GroundPlaneComparator::setPlaneCoeffD</a></div><div class="ttdeci">void setPlaneCoeffD(boost::shared_ptr&lt; std::vector&lt; float &gt; &gt; &amp;plane_coeff_d)</div><div class="ttdoc">Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form....</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_a04efd5238f2d7cf5171652a2cc262a65"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#a04efd5238f2d7cf5171652a2cc262a65">pcl::GroundPlaneComparator::compare</a></div><div class="ttdeci">virtual bool compare(int idx1, int idx2) const</div><div class="ttdoc">Compare points at two indices by their plane equations. True if the angle between the normals is less...</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:213</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_a171bd615e867ddcb74b429ba33fe96c2"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#a171bd615e867ddcb74b429ba33fe96c2">pcl::GroundPlaneComparator::setExpectedGroundNormal</a></div><div class="ttdeci">void setExpectedGroundNormal(Eigen::Vector3f normal)</div><div class="ttdoc">Set the expected ground plane normal with respect to the sensor. Pixels labeled as ground must be wit...</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:175</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_a342d7944b0ca7c81f9f39b55f87e7b0a"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#a342d7944b0ca7c81f9f39b55f87e7b0a">pcl::GroundPlaneComparator::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Provide a pointer to the input normals.</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_a427a918c37b5fbe06cfed9d62969ba46"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#a427a918c37b5fbe06cfed9d62969ba46">pcl::GroundPlaneComparator::setDistanceThreshold</a></div><div class="ttdeci">void setDistanceThreshold(float distance_threshold, bool depth_dependent=false)</div><div class="ttdoc">Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) ...</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:193</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_a4917094b3ac22e069d02bd9011345609"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#a4917094b3ac22e069d02bd9011345609">pcl::GroundPlaneComparator::getInputNormals</a></div><div class="ttdeci">PointCloudNConstPtr getInputNormals() const</div><div class="ttdoc">Get the input normals.</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_a4a1a62c797da2117eab1db378efc8886"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#a4a1a62c797da2117eab1db378efc8886">pcl::GroundPlaneComparator::getPlaneCoeffD</a></div><div class="ttdeci">const std::vector&lt; float &gt; &amp; getPlaneCoeffD() const</div><div class="ttdoc">Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_a4f0c1ea18efd201018449a14968a213b"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#a4f0c1ea18efd201018449a14968a213b">pcl::GroundPlaneComparator::getDistanceThreshold</a></div><div class="ttdeci">float getDistanceThreshold() const</div><div class="ttdoc">Get the distance threshold in meters (d component of plane equation) between neighboring points,...</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:202</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_a74ca6fa0843436e5fbaae4db9171d6a3"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#a74ca6fa0843436e5fbaae4db9171d6a3">pcl::GroundPlaneComparator::~GroundPlaneComparator</a></div><div class="ttdeci">virtual ~GroundPlaneComparator()</div><div class="ttdoc">Destructor for GroundPlaneComparator.</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:100</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_a83d48d057ffa61066310fce6177fa998"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#a83d48d057ffa61066310fce6177fa998">pcl::GroundPlaneComparator::GroundPlaneComparator</a></div><div class="ttdeci">GroundPlaneComparator(boost::shared_ptr&lt; std::vector&lt; float &gt; &gt; &amp;plane_coeff_d)</div><div class="ttdoc">Constructor for GroundPlaneComparator.</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:86</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_a84617b290723756ec60399e272f8ae9c"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#a84617b290723756ec60399e272f8ae9c">pcl::GroundPlaneComparator::setPlaneCoeffD</a></div><div class="ttdeci">void setPlaneCoeffD(std::vector&lt; float &gt; &amp;plane_coeff_d)</div><div class="ttdoc">Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form....</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:141</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_a9cdc19f0e96e96e0e192936331e6a25a"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#a9cdc19f0e96e96e0e192936331e6a25a">pcl::GroundPlaneComparator::setGroundAngularThreshold</a></div><div class="ttdeci">virtual void setGroundAngularThreshold(float angular_threshold)</div><div class="ttdoc">Set the tolerance in radians for difference in normal direction between a point and the expected grou...</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_a9e80cf6d65aa845b8dd6e13b8a7e011a"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#a9e80cf6d65aa845b8dd6e13b8a7e011a">pcl::GroundPlaneComparator::GroundPlaneComparator</a></div><div class="ttdeci">GroundPlaneComparator()</div><div class="ttdoc">Empty constructor for GroundPlaneComparator.</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:71</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_aa24b2167f6b5a27a7f16fbf4eadbb8f8"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#aa24b2167f6b5a27a7f16fbf4eadbb8f8">pcl::GroundPlaneComparator::getAngularThreshold</a></div><div class="ttdeci">float getAngularThreshold() const</div><div class="ttdoc">Get the angular threshold in radians for difference in normal direction between neighboring points,...</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:183</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_aaec0392b8a90827ad86f76e57b13e628"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#aaec0392b8a90827ad86f76e57b13e628">pcl::GroundPlaneComparator::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide the input cloud.</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_ground_plane_comparator_html_ae7ea1c7a9d7362b9648afd7b1a7c9b6e"><div class="ttname"><a href="classpcl_1_1_ground_plane_comparator.html#ae7ea1c7a9d7362b9648afd7b1a7c9b6e">pcl::GroundPlaneComparator::setAngularThreshold</a></div><div class="ttdeci">virtual void setAngularThreshold(float angular_threshold)</div><div class="ttdoc">Set the tolerance in radians for difference in normal direction between neighboring points,...</div><div class="ttdef"><b>Definition:</b> ground_plane_comparator.h:157</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="agroup__common_html_ga25b0ce695e2a10abb0130bcb5cf90eb6"><div class="ttname"><a href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a></div><div class="ttdeci">float deg2rad(float alpha)</div><div class="ttdoc">Convert an angle from degrees to radians</div><div class="ttdef"><b>Definition:</b> angles.hpp:67</div></div>
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